US9662076B2 - Laser guided auto collimation system and method for medical apparatus - Google Patents

Laser guided auto collimation system and method for medical apparatus Download PDF

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US9662076B2
US9662076B2 US13/292,429 US201113292429A US9662076B2 US 9662076 B2 US9662076 B2 US 9662076B2 US 201113292429 A US201113292429 A US 201113292429A US 9662076 B2 US9662076 B2 US 9662076B2
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laser
irradiation spot
collimation
photographing
laser irradiation
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US20120116374A1 (en
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Lei Jia
Lin Lin
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General Electric Co
GE Medical Systems Global Technology Co LLC
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General Electric Co
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Assigned to GE MEDICAL SYSTEMS GLOBAL TECHNOLOGY COMPANY, LLC reassignment GE MEDICAL SYSTEMS GLOBAL TECHNOLOGY COMPANY, LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BEIJING GE HUALUN MEDICAL EQUIPMENT CO., LTD.
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0492—Positioning of patients; Tiltable beds or the like using markers or indicia for aiding patient positioning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/08—Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams

Definitions

  • the present application relates to the field of medical apparatus including medical imaging apparatus and treatment system, particularly to an X-ray apparatus and system; and relates to the collimation of the position of the body of a patient through collimation of an irradiation landmark on the body surface of the patient.
  • Radiography usually requires precise collimation of a particular position on the body surface of a patient. Precise and fast collimation is the key point of successful irradiation and helps to reduce the time of the whole irradiation process and to decrease patient discomfort.
  • the procedure of collimating a patient of a digital radiography system with automatic collimation function (such as a GE Definium 8000 system, see FIG. 1 ) generally includes the following steps: (i) selecting a patient; (ii) selecting an initial position for the overhead tube suspension (OTS) (as shown in the dropdown menu A); (iii) pressing and holding the automatic collimation button B (see the control panel), the OTS starting to move towards a target position, releasing the button when the OTS moves to the target position; (iv) instructing the patient to the specific position (before the chest-radiography stand, on the bed or other position); (v) manually moving and/or rotating the tube to collimate at the irradiation landmark on the body surface of the patient and re-confirming the field of view (FOV) of the irradiation and so on.
  • OTS overhead tube suspension
  • FOV field of view
  • the central ray When confirming the FOV, the central ray should be collimated at the irradiation landmark on the body surface of the patient.
  • the central ray ( 5 ) emitted by the tube ( 8 ) is usually perpendicular to the patient and at a particular position directly over the irradiation landmark ( 3 ) on the body surface, the irradiation landmark ( 3 ) on the body surface is located at the center of the FOV ( 4 ) of irradiation.
  • U.S. Pat. No. 5,590,665 discloses a laser guided lesion localization apparatus, but the apparatus does not perform collimation at an irradiation landmark on the body surface of a patient.
  • Another U.S. Pat. No. 5,598,269 discloses a movable laser guided alignment apparatus for assisting a CT apparatus in collimation, which includes two beam sources of a laser line beam source and a laser fan beam source.
  • the apparatus is complex in structure and inconvenient in operation.
  • the embodiments described herein provide a laser guided automatic collimation system and method for medical apparatus for performing precise collimation of an irradiation landmark on the body surface of a patient.
  • the embodiments described herein provide a collimation system for a medical apparatus, including a medical apparatus itself and a collimation component, wherein a moving component is provided on the medical apparatus and which can move to a target position for performing diagnosis or treatment.
  • the collimation component includes a laser emitting device, a photographing device, and a computing device.
  • the laser beam emitted by the laser emitting device irradiates on a landmark on the body surface of a patient.
  • the photographing device takes photographs of the laser irradiation spot.
  • the computing device obtains a position of the laser irradiation spot by performing computation on images obtained by the photographing device.
  • the medical apparatus automatically locates the moving component based on the position of the irradiation spot obtained from the computation.
  • the laser emitting device is hand-held.
  • a controller is provided on the laser emitting device for controlling continuous emission of laser pulses.
  • the controller on the laser emitting device starts to continuously emit laser pulses, the controller triggers the photographing device to start taking photographs.
  • the acquisition frequency of the photographing device is higher than the emission frequency of the laser pulses.
  • the acquisition frequency of the photographing device is twice of the frequency of laser pulses.
  • the computing device does subtraction computation to adjacent images acquired by the photographing device to obtain a position of the laser irradiation spot.
  • the laser emitting device stops to emit laser pulses.
  • the remaining consistent for a period of time means that the difference between the positions of the laser irradiation spot obtained by the computing device for multiple times is smaller than a predetermined threshold value.
  • At least three photographing devices are arranged in the surrounding of the environment where the medical apparatus is placed.
  • the medical apparatus is an X-ray diagnosis apparatus
  • the photographing device is a digital camera.
  • the embodiments described herein provide a collimation method for a medical apparatus.
  • the method includes: 1) emitting a laser beam to irradiate on a landmark on the body surface of a patient; 2) taking photographs of the laser irradiation spot; 3) computing the images obtained from the photographing to obtain a position of the laser irradiation spot; and 4) automatically locating a moving component based on the position of the irradiation spot obtained from the computation.
  • a hand-held laser emitting device is used for laser emission.
  • Step 1) further includes starting to emit laser pulses continuously and triggering the photographing device to start taking photographs once laser pulses start to be emitted continuously.
  • step 2) the acquisition frequency of photographing the laser irradiation spot is higher than the emission frequency of the laser pulses.
  • the acquisition frequency of photographing the laser irradiation spot is twice of the frequency of laser pulses.
  • step 3 subtraction computation is performed on adjacent images obtained in the photographing to obtain a position of the laser irradiation spot.
  • step 3 when the positions of the laser irradiation spot obtained from computation remain consistent for a period of time, step 1) terminates, i.e. stopping to emit laser pulses.
  • the remaining consistent for a period of time means that the difference between the positions of the laser irradiation spot obtained by the computing device for multiple times over a predetermined period of time is smaller than a predetermined threshold value.
  • At least three photographing devices are arranged to take photographs of the laser irradiation spot.
  • the medical apparatus is an X-ray diagnosis apparatus
  • the photographing device is a digital camera.
  • the embodiments described herein simplify the work flow of automatic collimation for a medical apparatus, provide automatic collimation and help to improve patient experience.
  • FIG. 1 shows a user operation interface and related buttons of a GE Definium 8000 system, which is a digital ray system having an automatic collimation function.
  • FIG. 2 shows a schematic diagram of a medical apparatus performing collimation on a patient in a lying position.
  • FIG. 3 shows a structural diagram of an exemplary embodiment of a collimation system for a medical apparatus.
  • FIG. 4 is a schematic diagram of performing computation on adjacent images obtained through photographing to obtain a position of a laser irradiation spot.
  • FIG. 5 shows a control timing chart of an exemplary collimation method for a medical apparatus.
  • a preferred embodiment is a collimation system for a medical apparatus, particularly such as an X-ray diagnosis apparatus, as shown in FIGS. 3 and 4 .
  • an exemplary medical apparatus 408 (i.e. the X-ray diagnosis apparatus) is shown in FIG. 4 .
  • a laser emitting device in the collimation component is a hand-held laser pulse emission pen ( 1 ) with a button thereon for controlling emission of laser pulses. An operator holds the laser pulse emission pen, presses the button to continuously emit laser pulses and directs the laser pulses toward an irradiation landmark on the body surface of a patient.
  • the collimation component further comprises a plurality of digital cameras.
  • the digital cameras transmit the obtained images of the laser irradiation spot to a computing device 404 on the medical apparatus 408 .
  • the computing device 404 does subtraction computation on the adjacent two images obtained by the cameras continuously, as shown in FIG. 4 , so as to obtain the position of the laser irradiation spot continuously (the algorithm for converting the images of the irradiation spot obtained by the cameras into coordinates of the position of the irradiation spot can be seen in the following text). From the moment a position of the laser irradiation spot is first obtained, the computing device 404 computes the variations of the position of the irradiation simultaneously and continuously.
  • the system beeps to remind the operator to release the laser emission button so as to stop laser emission and collimation operation.
  • a preferred algorithm of projecting perspective images obtained by the cameras to a three-dimensional (3D) coordinate point on an image plane is a pinhole camera model. Assuming that the coordinates of the position of a laser irradiation spot to be determined is (X0, Y0, Z0), then computation of Z0 is unnecessary because the X-ray source to image-receptor distance (SID) is preset by the system (based on the irradiation part). The system only needs to compute the planar coordinates (X0, Y0) of the central ray on the irradiation plane.
  • sm ′ A ⁇ [ R ⁇ t ] ⁇ M ′
  • s ⁇ [ u v 1 ] [ f x 0 c x 0 f y c y 0 0 1 ] ⁇ [ r 11 r 12 r 13 t 1 r 21 r 22 r 23 t 2 r 31 r 32 r 33 t 3 ] ⁇ ⁇ X Y Z 1 ⁇
  • (X, Y, Z) represents a three-dimensional coordinate of one point within irradiation room coordinate space
  • (u, v) represents pixel coordinates of projection points.
  • A is referred to as the matrix of cameras or the matrix of intrinsic parameters: wherein (cx, cy) is the coordinate of the core point (generally the center of the image); fx, fy represent lengths of the focal distances in pixels. According to this equation, if an image is scaled at a certain parameter, all parameters should be scaled accordingly (multiplied or divided by the parameter).
  • the matrix of intrinsic parameters do not vary with the changes of the Field of View of cameras, once the matrix of intrinsic parameters is determined, it can be used repeatedly (if only the focal distance is kept the same).
  • t] is called as a matrix of extrinsic parameters, and used to describe the rotation motion of the camera around some point, a still camera, or the turning motion of an object in front of the camera. Then the [R
  • the transformed mathematic formula is (when Z ⁇ 0):
  • the position (X0, Y0) of the target spot of the laser irradiation spot can be obtained by performing the aforesaid computation on the images acquired by different cameras at the same moment.
  • Another preferred embodiment includes a collimation method for medical apparatus as shown in the control timing chart in FIG. 5 , particularly a collimation method for an X-ray diagnosis apparatus.
  • the method includes the following steps.
  • An operator uses a hand-held laser pulse emission pen, presses and holds the laser emission button to emit laser pulses continuously, and directs the laser beam toward an irradiation landmark on the body surface of a patient.
  • a plurality of digital cameras are arranged in the surrounding of the X-ray irradiation room for taking photographs of the patient.
  • at least three digital cameras are arranged surrounding the X-ray irradiation room.
  • Subtraction computation is performed to adjacent images acquired in the photographing continuously to obtain positions of the laser irradiation spot continuously.
  • the existing algorithm (shown above) can be applied to convert position images of the irradiation spot obtained by the cameras to position coordinates (vector) of the irradiation spot.
  • the system beeps to indicate that a position of the landmark on the body surface of the patient has been obtained and to remind the operator to release the laser emission button to stop laser emission and collimation operation.
  • the X-ray diagnosis apparatus guides the OTS and/or tube 405 of the medical apparatus 408 , also referred to as the moving component 405 , to collimate automatically, i.e. automatically moving to an appropriate position for irradiating the landmark 403 on the body surface 404 of the patient, in accordance with the obtained the position of the landmark on the body surface of the patient.
  • the collimation system and method for medical apparatus described herein can be applied to a diagnosis or treatment apparatus that requires precise collimation.
  • the collimation system and method can be further applied to a computed tomography (CT) apparatus, a magnetic resonance (MR) apparatus and a positron emission tomography (PET) apparatus and so on.
  • CT computed tomography
  • MR magnetic resonance
  • PET positron emission tomography

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
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  • Radiology & Medical Imaging (AREA)
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  • High Energy & Nuclear Physics (AREA)
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  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Laser Surgery Devices (AREA)
  • Radiation-Therapy Devices (AREA)
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CN201010552002.3A CN102462506B (zh) 2010-11-09 2010-11-09 激光引导医疗设备自动定位系统及方法
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US10881362B2 (en) * 2018-11-20 2021-01-05 General Electric Company Systems for laser alignment
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11266345B2 (en) * 2018-07-16 2022-03-08 Swift Medical Inc. Apparatus for visualization of tissue
US10881362B2 (en) * 2018-11-20 2021-01-05 General Electric Company Systems for laser alignment

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